#include "Rover.h"

/********************************************************************************/
// Command Event Handlers
/********************************************************************************/
bool Rover::start_command(const AP_Mission::Mission_Command& cmd)
{
    // log when new commands start
    if (should_log(MASK_LOG_CMD)) {
        DataFlash.Log_Write_Mission_Cmd(mission, cmd);
    }

    // exit immediately if not in AUTO mode
    if (control_mode != AUTO) {
        return false;
    }

    gcs_send_text_fmt(MAV_SEVERITY_INFO, "Executing command ID #%i",cmd.id);

    // remember the course of our next navigation leg
    next_navigation_leg_cd = mission.get_next_ground_course_cd(0);

	switch(cmd.id){
		case MAV_CMD_NAV_WAYPOINT:	// Navigate to Waypoint
			do_nav_wp(cmd);
			break;

		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
			do_RTL();
			break;

        case MAV_CMD_NAV_LOITER_UNLIM:              // Loiter indefinitely
            do_loiter_unlimited(cmd);
            break;

        // Conditional commands
		case MAV_CMD_CONDITION_DELAY:
			do_wait_delay(cmd);
			break;

		case MAV_CMD_CONDITION_DISTANCE:
			do_within_distance(cmd);
			break;

        // Do commands
		case MAV_CMD_DO_CHANGE_SPEED:
			do_change_speed(cmd);
			break;

		case MAV_CMD_DO_SET_HOME:
			do_set_home(cmd);
			break;

    	case MAV_CMD_DO_SET_SERVO:
            ServoRelayEvents.do_set_servo(cmd.content.servo.channel, cmd.content.servo.pwm);
            break;

    	case MAV_CMD_DO_SET_RELAY:
            ServoRelayEvents.do_set_relay(cmd.content.relay.num, cmd.content.relay.state);
            break;

    	case MAV_CMD_DO_REPEAT_SERVO:
            ServoRelayEvents.do_repeat_servo(cmd.content.repeat_servo.channel, cmd.content.repeat_servo.pwm,
                                             cmd.content.repeat_servo.repeat_count, cmd.content.repeat_servo.cycle_time * 1000.0f);
            break;

    	case MAV_CMD_DO_REPEAT_RELAY:
            ServoRelayEvents.do_repeat_relay(cmd.content.repeat_relay.num, cmd.content.repeat_relay.repeat_count,
                                             cmd.content.repeat_relay.cycle_time * 1000.0f);
            break;

#if CAMERA == ENABLED
        case MAV_CMD_DO_CONTROL_VIDEO:                      // Control on-board camera capturing. |Camera ID (-1 for all)| Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw| Transmission mode: 0: video stream, >0: single images every n seconds (decimal)| Recording: 0: disabled, 1: enabled compressed, 2: enabled raw| Empty| Empty| Empty|
            break;

        case MAV_CMD_DO_DIGICAM_CONFIGURE:                  // Mission command to configure an on-board camera controller system. |Modes: P, TV, AV, M, Etc| Shutter speed: Divisor number for one second| Aperture: F stop number| ISO number e.g. 80, 100, 200, Etc| Exposure type enumerator| Command Identity| Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)|
            do_digicam_configure(cmd);
            break;

        case MAV_CMD_DO_DIGICAM_CONTROL:                    // Mission command to control an on-board camera controller system. |Session control e.g. show/hide lens| Zoom's absolute position| Zooming step value to offset zoom from the current position| Focus Locking, Unlocking or Re-locking| Shooting Command| Command Identity| Empty|
            do_digicam_control(cmd);
            break;

        case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
            camera.set_trigger_distance(cmd.content.cam_trigg_dist.meters);
            break;
#endif

#if MOUNT == ENABLED
		// Sets the region of interest (ROI) for a sensor set or the
		// vehicle itself. This can then be used by the vehicles control
		// system to control the vehicle attitude and the attitude of various
		// devices such as cameras.
		//    |Region of interest mode. (see MAV_ROI enum)| Waypoint index/ target ID. (see MAV_ROI enum)| ROI index (allows a vehicle to manage multiple cameras etc.)| Empty| x the location of the fixed ROI (see MAV_FRAME)| y| z|
        case MAV_CMD_DO_SET_ROI:
            if (cmd.content.location.alt == 0 && cmd.content.location.lat == 0 && cmd.content.location.lng == 0) {
                // switch off the camera tracking if enabled
                if (camera_mount.get_mode() == MAV_MOUNT_MODE_GPS_POINT) {
                    camera_mount.set_mode_to_default();
                }
            } else {
                // send the command to the camera mount
                camera_mount.set_roi_target(cmd.content.location);
            }
            break;
#endif

        case MAV_CMD_DO_SET_REVERSE:
            do_set_reverse(cmd);
            break;

		default:
		    // return false for unhandled commands
		    return false;
	}

	// if we got this far we must have been successful
	return true;
}

// exit_mission - callback function called from ap-mission when the mission has completed
//      we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
void Rover::exit_mission()
{
    if (control_mode == AUTO) {
        gcs_send_text_fmt(MAV_SEVERITY_NOTICE, "No commands. Can't set AUTO. Setting HOLD");
        set_mode(HOLD);
    }
}

// verify_command_callback - callback function called from ap-mission at 10hz or higher when a command is being run
//      we double check that the flight mode is AUTO to avoid the possibility of ap-mission triggering actions while we're not in AUTO mode
bool Rover::verify_command_callback(const AP_Mission::Mission_Command& cmd)
{
    if (control_mode == AUTO) {
        bool cmd_complete = verify_command(cmd);

        // send message to GCS
        if (cmd_complete) {
            gcs_send_mission_item_reached_message(cmd.index);
        }

        return cmd_complete;
    }
    return false;
}

/*******************************************************************************
Verify command Handlers

Each type of mission element has a "verify" operation. The verify
operation returns true when the mission element has completed and we
should move onto the next mission element.
Return true if we do not recognize the command so that we move on to the next command
*******************************************************************************/

bool Rover::verify_command(const AP_Mission::Mission_Command& cmd)
{
	switch(cmd.id) {

		case MAV_CMD_NAV_WAYPOINT:
			return verify_nav_wp(cmd);

		case MAV_CMD_NAV_RETURN_TO_LAUNCH:
			return verify_RTL();

        case MAV_CMD_NAV_LOITER_UNLIM:
            return verify_loiter_unlim();

        case MAV_CMD_CONDITION_DELAY:
            return verify_wait_delay();

        case MAV_CMD_CONDITION_DISTANCE:
            return verify_within_distance();

        // do commands (always return true)
        case MAV_CMD_DO_CHANGE_SPEED:
        case MAV_CMD_DO_SET_HOME:
        case MAV_CMD_DO_SET_SERVO:
        case MAV_CMD_DO_SET_RELAY:
        case MAV_CMD_DO_REPEAT_SERVO:
        case MAV_CMD_DO_REPEAT_RELAY:
        case MAV_CMD_DO_CONTROL_VIDEO:
        case MAV_CMD_DO_DIGICAM_CONFIGURE:
        case MAV_CMD_DO_DIGICAM_CONTROL:
        case MAV_CMD_DO_SET_CAM_TRIGG_DIST:
        case MAV_CMD_DO_SET_ROI:
        case MAV_CMD_DO_SET_REVERSE:
            return true;

        default:
            // error message
            gcs_send_text_fmt(MAV_SEVERITY_WARNING,"Skipping invalid cmd #%i",cmd.id);
            // return true if we do not recognize the command so that we move on to the next command
            return true;
	}

}

/********************************************************************************/
//  Nav (Must) commands
/********************************************************************************/

void Rover::do_RTL(void)
{
    prev_WP = current_loc;
	control_mode 	= RTL;
	next_WP = home;
}

void Rover::do_nav_wp(const AP_Mission::Mission_Command& cmd)
{
    // this will be used to remember the time in millis after we reach or pass the WP.
    loiter_time = 0;
    // this is the delay, stored in seconds
    loiter_time_max = cmd.p1;

    // this is the distance we travel past the waypoint - not there yet so 0 initially
    distance_past_wp = 0;

	set_next_WP(cmd.content.location);
}

void Rover::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
{
    Location cmdloc = cmd.content.location;
    location_sanitize(current_loc, cmdloc);
    set_next_WP(cmdloc);
    loiter_time_max = 100; // an arbitrary large loiter time
    distance_past_wp = 0;
}

/********************************************************************************/
//  Verify Nav (Must) commands
/********************************************************************************/
bool Rover::verify_nav_wp(const AP_Mission::Mission_Command& cmd)
{
    if ((wp_distance > 0) && (wp_distance <= g.waypoint_radius)) {
        // Check if we need to loiter at this waypoint
        if (loiter_time_max > 0) {
            if (loiter_time == 0) {  // check if we are just starting loiter
                gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Loiter for %i seconds",
                                  (unsigned)cmd.index,
                                  (unsigned)loiter_time_max);
                // record the current time i.e. start timer
                loiter_time = millis();
            }
            // Check if we have loiter long enough
            if (((millis() - loiter_time) / 1000) < loiter_time_max) {
                return false;
            }
        } else {
            gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached waypoint #%i. Distance %um",
                              (unsigned)cmd.index,
                              (unsigned)get_distance(current_loc, next_WP));
        }
        return true;
    }

    // have we gone past the waypoint?
    // We should always go through the waypoint i.e. the above code
    // first before we go past it.
    if (location_passed_point(current_loc, prev_WP, next_WP)) {
        // check if we have gone further past the wp then last time and output new message if we have
        if ((uint32_t)distance_past_wp != (uint32_t)get_distance(current_loc, next_WP)) {
            distance_past_wp = get_distance(current_loc, next_WP);
            gcs_send_text_fmt(MAV_SEVERITY_INFO, "Passed waypoint #%i. Distance %um",
                              (unsigned)cmd.index,
                              (unsigned)distance_past_wp);
        }
        // Check if we need to loiter at this waypoint
        if (loiter_time_max > 0) {
            if (((millis() - loiter_time) / 1000) < loiter_time_max) {
                return false;
            }
        }
        distance_past_wp = 0;
        return true;
    }

    return false;
}

bool Rover::verify_RTL()
{
	if (wp_distance <= g.waypoint_radius) {
		gcs_send_text(MAV_SEVERITY_INFO,"Reached destination");
                rtl_complete = true;
		return true;
	}

    // have we gone past the waypoint?
    if (location_passed_point(current_loc, prev_WP, next_WP)) {
        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Reached destination. Distance away %um",
                          (unsigned)get_distance(current_loc, next_WP));
        rtl_complete = true;
        return true;
    }

    return false;
}

bool Rover::verify_loiter_unlim()
{
    // Continually increase the loiter time so it never finishes
    loiter_time += loiter_time_max;
    return false;
}

void Rover::nav_set_yaw_speed()
{
    // if we haven't received a MAV_CMD_NAV_SET_YAW_SPEED message within the last 3 seconds bring the rover to a halt
    if ((millis() - guided_yaw_speed.msg_time_ms) > 3000)
    {
        gcs_send_text(MAV_SEVERITY_WARNING, "NAV_SET_YAW_SPEED not recvd last 3secs, stopping");
        channel_throttle->set_servo_out(g.throttle_min.get());
        channel_steer->set_servo_out(0);
        lateral_acceleration = 0;
        return;
    }

    channel_steer->set_servo_out(steerController.get_steering_out_angle_error(guided_yaw_speed.turn_angle));

    // speed param in the message gives speed as a proportion of cruise speed.
    // 0.5 would set speed to the cruise speed
    // 1 is double the cruise speed.
    float target_speed = g.speed_cruise * guided_yaw_speed.target_speed * 2;
    calc_throttle(target_speed);

    return;
}

/********************************************************************************/
//  Condition (May) commands
/********************************************************************************/

void Rover::do_wait_delay(const AP_Mission::Mission_Command& cmd)
{
	condition_start = millis();
	condition_value  = cmd.content.delay.seconds * 1000;    // convert seconds to milliseconds
}

void Rover::do_within_distance(const AP_Mission::Mission_Command& cmd)
{
	condition_value  = cmd.content.distance.meters;
}

/********************************************************************************/
// Verify Condition (May) commands
/********************************************************************************/

bool Rover::verify_wait_delay()
{
	if ((uint32_t)(millis() - condition_start) > (uint32_t)condition_value){
		condition_value 	= 0;
		return true;
	}
	return false;
}

bool Rover::verify_within_distance()
{
	if (wp_distance < condition_value){
		condition_value = 0;
		return true;
	}
	return false;
}

/********************************************************************************/
//  Do (Now) commands
/********************************************************************************/

void Rover::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
    if (cmd.content.speed.target_ms > 0) {
        g.speed_cruise.set(cmd.content.speed.target_ms);
        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise speed: %.1f m/s", (double)g.speed_cruise.get());
    }

	if (cmd.content.speed.throttle_pct > 0 && cmd.content.speed.throttle_pct <= 100) {
		g.throttle_cruise.set(cmd.content.speed.throttle_pct);
        gcs_send_text_fmt(MAV_SEVERITY_INFO, "Cruise throttle: %.1f", g.throttle_cruise.get());
    }
}

void Rover::do_set_home(const AP_Mission::Mission_Command& cmd)
{
	if(cmd.p1 == 1 && have_position) {
		init_home();
	} else {
        ahrs.set_home(cmd.content.location);
		home_is_set = HOME_SET_NOT_LOCKED;
		Log_Write_Home_And_Origin();
        GCS_MAVLINK::send_home_all(cmd.content.location);
	}
}

// do_digicam_configure Send Digicam Configure message with the camera library
void Rover::do_digicam_configure(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
    camera.configure(cmd.content.digicam_configure.shooting_mode,
                     cmd.content.digicam_configure.shutter_speed,
                     cmd.content.digicam_configure.aperture,
                     cmd.content.digicam_configure.ISO,
                     cmd.content.digicam_configure.exposure_type,
                     cmd.content.digicam_configure.cmd_id,
                     cmd.content.digicam_configure.engine_cutoff_time);
#endif
}

// do_digicam_control Send Digicam Control message with the camera library
void Rover::do_digicam_control(const AP_Mission::Mission_Command& cmd)
{
#if CAMERA == ENABLED
    if (camera.control(cmd.content.digicam_control.session,
                       cmd.content.digicam_control.zoom_pos,
                       cmd.content.digicam_control.zoom_step,
                       cmd.content.digicam_control.focus_lock,
                       cmd.content.digicam_control.shooting_cmd,
                       cmd.content.digicam_control.cmd_id)) {
            log_picture();
    }
#endif
}

// do_take_picture - take a picture with the camera library
void Rover::do_take_picture()
{
#if CAMERA == ENABLED
    camera.trigger_pic(true);
    log_picture();
#endif
}

// log_picture - log picture taken and send feedback to GCS
void Rover::log_picture()
{
    if (!camera.using_feedback_pin()) {
        gcs_send_message(MSG_CAMERA_FEEDBACK);
        if (should_log(MASK_LOG_CAMERA)) {
            DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
        }
    } else {
        if (should_log(MASK_LOG_CAMERA)) {
            DataFlash.Log_Write_Trigger(ahrs, gps, current_loc);
        }      
    }
}

void Rover::do_set_reverse(const AP_Mission::Mission_Command& cmd)
{
	if (cmd.p1 == 1) {
        set_reverse(true);
	} else {
        set_reverse(false);
    }
}
